/*
This file is part of CanFestival, a library implementing CanOpen Stack.

Copyright (C): VScom

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

/**
 * @file can_vscom.c
 * @author VScom (http://www.vscom.de)
 * @date 17/04/08
 *
 * This file implements interface between CanFestival and the VSCAN API
 * (supported VScom products SER-CAN, USB-CAN, NET-CAN).
 *
 * To build this interface following files will needed:
 * vs_can_api.h
 * va_can_api.lib (for Windows builds)
*/

#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <fcntl.h>

// VSCAN API header
#include "vs_can_api.h" // for CAN_HANDLE

#include "can_driver.h"

/*********functions which permit to communicate with the board****************/
UNS8 canReceive_driver(CAN_HANDLE fd0, Message* m)
{
    VSCAN_MSG Msg[1];
    UNS8 i;
    DWORD dwRead; /* number of read frames */
    if (VSCAN_Read((VSCAN_HANDLE)fd0, Msg, 1, &dwRead) != VSCAN_ERR_OK)
    {
        printf("canReceive_driver (VScom): error receiving frame)\n");
        return 1;
    }
    /* identifier of the CAN frame */
    m->cob_id = Msg[0].Id;
    /* CAN frame type */
    if (Msg[0].Flags == VSCAN_FLAGS_STANDARD)
    {
        m->rtr = 0;
    }
    else
    {
        m->rtr = 1;
    }
    /* width of the data bytes */
    m->len = Msg[0].Size;
    /* copy data bytes from the CAN frame, up to 8 */
    for (i = 0  ; i < Msg[0].Size ; i++)
    {
        m->data[i] = Msg[0].Data[i];
    }
    return 0;
}

/***************************************************************************/
UNS8 canSend_driver(CAN_HANDLE fd0, Message const* m)
{
    VSCAN_MSG Msg[1];
    UNS8 i;
    DWORD dwWritten; /* number of written frames */
    /* identifier of the CAN frame */
    Msg[0].Id = m->cob_id;
    /* CAN frame type */
    if (m->rtr == 0)
    {
        Msg[0].Flags = VSCAN_FLAGS_STANDARD;
    }
    else
    {
        Msg[0].Flags = VSCAN_FLAGS_REMOTE;
    }
    /* width of the data bytes */
    Msg[0].Size = m->len;
    /* copy data bytes to the CAN frame, up to 8 */
    for (i = 0 ; i <  m->len; i++)
    {
        Msg[0].Data[i] = m->data[i];
    }
    /* copy CAN frame to the output buffer */
    if (!(VSCAN_Write((VSCAN_HANDLE)fd0, Msg, (DWORD)1, &dwWritten) == VSCAN_ERR_OK && dwWritten))
    {
        perror("canSend_driver (VScom): error writing to output buffer.\n");
        return 1;
    }
    /* really send CAN frame */
    if (VSCAN_Flush((VSCAN_HANDLE)fd0) != VSCAN_ERR_OK)
    {
        perror("canSend_driver (VScom): error flushing.\n");
        return 1;
    }
    return 0;
}


/***************************************************************************/
int TranslateBaudeRate(char* optarg)
{
    if (!strcmp(optarg, "1M"))
    {
        return (int)VSCAN_SPEED_1M;
    }
    if (!strcmp(optarg, "500K"))
    {
        return (int)VSCAN_SPEED_500K;
    }
    if (!strcmp(optarg, "250K"))
    {
        return (int)VSCAN_SPEED_250K;
    }
    if (!strcmp(optarg, "125K"))
    {
        return (int)VSCAN_SPEED_125K;
    }
    if (!strcmp(optarg, "100K"))
    {
        return (int)VSCAN_SPEED_100K;
    }
    if (!strcmp(optarg, "50K"))
    {
        return (int)VSCAN_SPEED_50K;
    }
    if (!strcmp(optarg, "20K"))
    {
        return (int)VSCAN_SPEED_20K;
    }
    if (!strcmp(optarg, "none"))
    {
        return 0;
    }
    return 0x0000;
}

UNS8 canChangeBaudRate_driver(CAN_HANDLE fd, char* baud)
{
    int baudrate;
    baudrate = TranslateBaudeRate(baud);
    if (baudrate == 0)
    {
        return 0;
    }
    if (VSCAN_Ioctl((VSCAN_HANDLE)fd, VSCAN_IOCTL_SET_SPEED, (void*)baudrate) != VSCAN_ERR_OK)
    {
        fprintf(stderr, "canOpen_driver (VScom): IOCTL set speed failed\n");
        return 0;
    }
    return 1;
}

/***************************************************************************/
CAN_HANDLE canOpen_driver(s_BOARD* board)
{
    VSCAN_HANDLE fd0 = 0;
    char busname[64];
    char* pEnd;
    int i;
    int baudrate;
    printf("bus %s ", board->busname);
    fd0 = VSCAN_Open(board->busname, VSCAN_MODE_NORMAL);
    if (fd0 <= 0)
    {
        fprintf(stderr, "canOpen_driver (VScom): error opening %s\n", board->busname);
        return (CAN_HANDLE)fd0;
    }
    printf("(fd = %d)\n", fd0);
    baudrate = TranslateBaudeRate(board->baudrate);
    if (baudrate == 0)
    {
        return 0;
    }
    if (VSCAN_Ioctl((VSCAN_HANDLE)fd0, VSCAN_IOCTL_SET_SPEED, (void*)baudrate) != VSCAN_ERR_OK)
    {
        fprintf(stderr, "canOpen_driver (VScom): IOCTL set speed failed\n");
        return 0;
    }
    return (CAN_HANDLE)fd0;
}

/***************************************************************************/
int canClose_driver(CAN_HANDLE fd0)
{
    VSCAN_Close((VSCAN_HANDLE)fd0);
    return 0;
}
